A Crawler Deformable Robot Mobile Platform Based on Four-bar Mechanism

Abstract

The invention relates to a mobile robot platform with deformable tracks based on a four-rod mechanism. The mobile robot platform is mainly characterized by comprising a robot body which comprises a tank body, a driving transmission shaft, a driven transmission shaft, and a driving motor mechanism; a wheel-track compound walking module comprises a track supporting connecting rod mechanism and a track mechanism; the track supporting connecting rod mechanism comprise a front supporting rod, a middle connecting rod, a deforming limiting mechanism, a first pull rod, a first rear supporting rod, a deforming resetting mechanism, a second rear supporting rod and a second pull rod; and the track mechanism comprises large driving track wheels, small driving track wheels, large first driven track wheels, small second driven track wheels, small first driven track wheels, transmission tracks and transmission walking tracks. The mobile robot platform disclosed by the invention is reasonable in design; the outline of the tracks can be passively changed according to the diameters of obstacles, and the mobile robot platform can autonomously shift two movement modes including a wheel movement module and a track movement module during deforming, and has high independent terrain adapting capacity, and the speed of wheel type movement is raised and the energy is saved.

Description

technical field [0001] The invention belongs to the technical field of robot mobile platforms, in particular to a crawler deformable robot mobile platform based on a four-bar mechanism. Background technique [0002] Among the current robot mobile mechanisms, wheeled robots move flexibly and can pass through relatively complex ground environments, but their efficiency is low and their control algorithms are complex. The application research of tracked robots is extensive, and it has both efficiency and obstacle passing performance. Most of the ordinary tracked robots are jointed swing arm structures. By adjusting the angle of joint swing arms, they can actively adapt to environmental changes. It depends on the environmental information fed back by the sensor and the active control adjustment. The passive adaptive crawler robot can use the constraint force in the environment as an effective output, so that the contour of the track can be changed passively, so as to better ada...

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Problems solved by technology

[0004] The purpose of the present invention is to make up for the deficiencies of the prior art, to provide a crawler deformable robot mobile platform based on a four-bar mechanism, which solves the lack of obstacle-surmounting ability in the wheeled motion mode caused by the front-wheel drive mode and the passage of flat roads. efficiency problem

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